cmake_minimum_required(VERSION 2.8.3)
project(osqp_control)

## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  auto_msgs
  common_tool
  message_generation
  roscpp
  rospy
  std_msgs
  tf
)

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)


## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

################################################
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend tag for "message_generation"
##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
add_message_files(
   FILES
   debug_2d2s.msg
   debug_lv.msg
   debug_lateral.msg
 )

## Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   Service1.srv
#   Service2.srv
# )

## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )

## Generate added messages and services with any dependencies listed here
generate_messages(
  DEPENDENCIES
   auto_msgs  std_msgs
 )
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
#   cfg/DynReconf1.cfg
#   cfg/DynReconf2.cfg
# )

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
   INCLUDE_DIRS include
   LIBRARIES osqp_control
   CATKIN_DEPENDS auto_msgs common_tool message_generation roscpp rospy std_msgs tf
   #DEPENDS system_lib
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
  include
  ${catkin_INCLUDE_DIRS}
)

## Declare a C++ library
# add_library(${PROJECT_NAME}
#   src/${PROJECT_NAME}/osqp_control.cpp
# )

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/osqp_control_node.cpp)

## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")

## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
#   ${catkin_LIBRARIES}
# )

#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )

## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
find_package(PythonLibs 2.7)


# find Eigen
find_package(Eigen3 REQUIRED)
find_package(yaml-cpp 0.6.3 REQUIRED)#找到package
find_package (Threads)
include_directories(SYSTEM ${EIGEN3_INCLUDE_DIR})

# add OSQP library
find_package(osqp REQUIRED)

set(LIBRARY_TARGET_NAME OsqpSolver)

# List of CPP (source) library files.
set(${LIBRARY_TARGET_NAME}_SRC
  src/OsqpSolver/Data.cpp
  src/OsqpSolver/Settings.cpp
  src/OsqpSolver/Solver.cpp)

set(${LIBRARY_TARGET_NAME}_HDR
  include/OsqpSolver/OsqpSolver.h
  include/OsqpSolver/Constants.hpp
  include/OsqpSolver/SparseMatrixHelper.hpp
  include/OsqpSolver/SparseMatrixHelper.tpp
  include/OsqpSolver/Data.hpp
  include/OsqpSolver/Data.tpp
  include/OsqpSolver/Settings.hpp
  include/OsqpSolver/Solver.hpp
  include/OsqpSolver/Solver.tpp)
set(data_2d2s_path "${CMAKE_CURRENT_SOURCE_DIR}/data/")  
configure_file(${CMAKE_CURRENT_SOURCE_DIR}/include/data_2d2s_path.h.in ${CMAKE_CURRENT_SOURCE_DIR}/include/data_2d2s_path.h)

set(node_config_path "${CMAKE_CURRENT_SOURCE_DIR}/config/")  
configure_file(${CMAKE_CURRENT_SOURCE_DIR}/include/node_config_path.h.in ${CMAKE_CURRENT_SOURCE_DIR}/include/node_config_path.h)
set(node_log_data_path "${CMAKE_CURRENT_SOURCE_DIR}/log_data/")  
configure_file(${CMAKE_CURRENT_SOURCE_DIR}/include/node_log_data_path.h.in ${CMAKE_CURRENT_SOURCE_DIR}/include/node_log_data_path.h)

add_library(${LIBRARY_TARGET_NAME} ${${LIBRARY_TARGET_NAME}_SRC} ${${LIBRARY_TARGET_NAME}_HDR})
target_include_directories(${LIBRARY_TARGET_NAME} PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
  "$<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>")

target_link_libraries(${LIBRARY_TARGET_NAME} PRIVATE Eigen3::Eigen)
target_link_libraries(${LIBRARY_TARGET_NAME} PUBLIC osqp::osqp)


add_library(OsqpSolver::OsqpSolver ALIAS OsqpSolver)
include_directories(/usr/include/eigen3/Eigen/src/Core)
include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include/MPC
 ${CMAKE_CURRENT_SOURCE_DIR}/include/VehicleMotionCtr
 ${CMAKE_CURRENT_SOURCE_DIR}/include/osqp_control
 ${CMAKE_CURRENT_SOURCE_DIR}/include/kalman
 ${CMAKE_CURRENT_SOURCE_DIR}/include/VehicleMotionFilter
 ${CMAKE_CURRENT_SOURCE_DIR}/include/utilities)
add_library(LinearSystem src/MPC/linear_system.cpp)
add_library(DiscreteLinearSystem src/MPC/discrete_linear_system.cpp)
target_link_libraries(DiscreteLinearSystem LinearSystem)
add_library(ContinuousLinearSystem src/MPC/continuous_linear_system.cpp)
target_link_libraries(ContinuousLinearSystem LinearSystem DiscreteLinearSystem)
add_library(Mpc src/MPC/mpc.cpp)
target_link_libraries(Mpc LinearSystem DiscreteLinearSystem OsqpSolver)



###################################################kalman filter
add_library(kf src/kalman/kf.cpp)
target_link_libraries(kf DiscreteLinearSystem)

####under VehicleMotionFilter
add_library(kf_lateral src/VehicleMotionFilter/kf_lateral.cpp)
target_link_libraries(kf_lateral ContinuousLinearSystem DiscreteLinearSystem kf)

add_library(kf_lateral2dof src/VehicleMotionFilter/kf_lateral2dof.cpp)
target_link_libraries(kf_lateral2dof ContinuousLinearSystem DiscreteLinearSystem kf yaml-cpp)

add_library(kf_ll_yaw src/VehicleMotionFilter/kf_ll_yaw.cpp)
target_link_libraries(kf_ll_yaw ContinuousLinearSystem DiscreteLinearSystem kf yaml-cpp)

add_library(vehicle_kf INTERFACE)
target_link_libraries(vehicle_kf INTERFACE
					kf_lateral
					kf_lateral2dof
					kf_ll_yaw
        )


###########################vechicle dyna

add_library(vehicle_linear2d2s src/VehicleMotionCtr/vehicle_linear2d2s.cpp)
target_link_libraries(vehicle_linear2d2s ContinuousLinearSystem DiscreteLinearSystem)

add_library(vehicle_linear_lv src/VehicleMotionCtr/vehicle_linear_lv.cpp)
target_link_libraries(vehicle_linear_lv ContinuousLinearSystem DiscreteLinearSystem)


add_library(vehicle_linear_lateral src/VehicleMotionCtr/vehicle_linear_lateral.cpp)
target_link_libraries(vehicle_linear_lateral ContinuousLinearSystem DiscreteLinearSystem)

add_library(vehicle_linear_ll src/VehicleMotionCtr/vehicle_linear_ll.cpp)
target_link_libraries(vehicle_linear_ll ContinuousLinearSystem DiscreteLinearSystem)

add_library(vehicle_lateral3dis src/VehicleMotionCtr/vehicle_lateral3dis.cpp)
target_link_libraries(vehicle_lateral3dis ContinuousLinearSystem DiscreteLinearSystem)

add_library(vehicle_lateral_speed src/VehicleMotionCtr/vehicle_lateral_speed.cpp)
target_link_libraries(vehicle_lateral_speed ContinuousLinearSystem DiscreteLinearSystem yaml-cpp)

add_library(vehicle_lateral_speed3dis src/VehicleMotionCtr/vehicle_lateral_speed3dis.cpp)
target_link_libraries(vehicle_lateral_speed3dis ContinuousLinearSystem DiscreteLinearSystem yaml-cpp)

add_library(vehicle_lateral_speed_yaw src/VehicleMotionCtr/vehicle_lateral_speed_yaw.cpp)
target_link_libraries(vehicle_lateral_speed_yaw ContinuousLinearSystem DiscreteLinearSystem yaml-cpp)

add_library(vehicle_dyn INTERFACE)
target_link_libraries(vehicle_dyn INTERFACE
		vehicle_linear2d2s
        vehicle_linear_lv
        vehicle_linear_lateral
        vehicle_linear_ll
		vehicle_lateral3dis
		vehicle_lateral_speed
		vehicle_lateral_speed3dis
		vehicle_lateral_speed_yaw
        )
###########################################utilities
add_library(poly2d src/utilities/poly2d.cpp)
add_executable(test_poly2d src/utilities/test/test_poly2d.cpp)
target_link_libraries(test_poly2d poly2d)
###########################################mpc
add_library(vehicle_lv_mpc src/VehicleMotionCtr/vehicle_lv_mpc.cpp)
target_link_libraries(vehicle_lv_mpc vehicle_dyn Mpc yaml-cpp)

add_library(vehicle_lateral_mpc src/VehicleMotionCtr/vehicle_lateral_mpc.cpp)
target_link_libraries(vehicle_lateral_mpc vehicle_dyn Mpc vehicle_kf)######

add_library(vehicle_lateral3dis_mpc src/VehicleMotionCtr/vehicle_lateral3dis_mpc.cpp)
target_link_libraries(vehicle_lateral3dis_mpc vehicle_dyn Mpc vehicle_kf)

add_library(linear2d2s_mpc src/VehicleMotionCtr/linear2d2s_mpc.cpp)
target_link_libraries(linear2d2s_mpc Mpc  vehicle_dyn)

add_library(vehicle_lateral_speed3dis_mpc src/VehicleMotionCtr/vehicle_lateral_speed3dis_mpc.cpp)
target_link_libraries(vehicle_lateral_speed3dis_mpc vehicle_dyn Mpc yaml-cpp vehicle_kf)

add_library(vehicle_lateral_speed_mpc src/VehicleMotionCtr/vehicle_lateral_speed_mpc.cpp)
target_link_libraries(vehicle_lateral_speed_mpc vehicle_dyn Mpc yaml-cpp vehicle_kf)

add_library(vehicle_lateral_speed_yaw_mpc src/VehicleMotionCtr/vehicle_lateral_speed_yaw_mpc.cpp)
target_link_libraries(vehicle_lateral_speed_yaw_mpc vehicle_dyn Mpc yaml-cpp vehicle_kf)


add_library(vehicle_ll_mpc src/VehicleMotionCtr/vehicle_ll_mpc.cpp)
target_link_libraries(vehicle_ll_mpc vehicle_dyn Mpc yaml-cpp vehicle_kf)



add_library(vehicle_mpc INTERFACE)
target_link_libraries(vehicle_mpc INTERFACE
						vehicle_lv_mpc
						vehicle_lateral_mpc
						vehicle_lateral3dis_mpc
						linear2d2s_mpc
						vehicle_lateral_speed3dis_mpc
						vehicle_lateral_speed_mpc
						vehicle_lateral_speed_yaw_mpc
        )
add_library(node_base src/osqp_control/node_base.cpp)
target_link_libraries(node_base  ${catkin_LIBRARIES} yaml-cpp)

add_library(node_lateral src/osqp_control/node_lateral.cpp)
target_link_libraries(node_lateral vehicle_lateral_mpc ${catkin_LIBRARIES} yaml-cpp)

add_library(node_lateral3dis src/osqp_control/node_lateral3dis.cpp)
target_link_libraries(node_lateral3dis vehicle_lateral3dis_mpc ${catkin_LIBRARIES} yaml-cpp)

add_library(node_lateral_speed3dis src/osqp_control/node_lateral_speed3dis.cpp)
target_link_libraries(node_lateral_speed3dis vehicle_mpc vehicle_dyn ${catkin_LIBRARIES} yaml-cpp)

add_library(node_lateral_speed src/osqp_control/node_lateral_speed.cpp)
target_link_libraries(node_lateral_speed vehicle_mpc vehicle_dyn ${catkin_LIBRARIES} yaml-cpp)


add_library(node_lateral_speed_yaw src/osqp_control/node_lateral_speed_yaw.cpp)
target_link_libraries(node_lateral_speed_yaw vehicle_mpc vehicle_dyn ${catkin_LIBRARIES} yaml-cpp)

add_library(ctr_node INTERFACE)
target_link_libraries(ctr_node INTERFACE
node_lateral
node_lateral3dis 
node_lateral_speed3dis
node_lateral_speed
node_base
node_lateral_speed_yaw
        )


add_executable(main_lateral src/osqp_control/main_lateral.cpp)
target_link_libraries(main_lateral node_lateral ${catkin_LIBRARIES} yaml-cpp)

add_executable(main_lateral3dis src/osqp_control/main_lateral3dis.cpp)
target_link_libraries(main_lateral3dis node_lateral3dis ${catkin_LIBRARIES} yaml-cpp)

add_executable(main_ctr src/osqp_control/main_ctr.cpp)
target_link_libraries(main_ctr ctr_node ${catkin_LIBRARIES} yaml-cpp)





#######################

add_executable(test_mpc  src/MPC/test_mpc.cpp)
target_link_libraries(test_mpc Mpc) 


add_executable(sperate_mpc_2d2s src/sperate_mpc_2d2s.cpp)
target_link_libraries(sperate_mpc_2d2s vehicle_linear2d2s Mpc)



target_include_directories(sperate_mpc_2d2s PRIVATE ${PYTHON_INCLUDE_DIRS})
target_link_libraries(sperate_mpc_2d2s ${PYTHON_LIBRARIES})


add_executable(test_torque_steer src/osqp_control/test_torque_steer.cpp)
target_link_libraries(test_torque_steer  ${catkin_LIBRARIES} yaml-cpp)

add_library(node2d2s src/osqp_control/node2d2s.cpp)
target_link_libraries(node2d2s linear2d2s_mpc ${catkin_LIBRARIES} yaml-cpp)

add_library(node_lv src/osqp_control/node_lv.cpp)
target_link_libraries(node_lv vehicle_lv_mpc ${catkin_LIBRARIES} yaml-cpp)



add_executable(main_2d2s src/osqp_control/main_2d2s.cpp)
target_link_libraries(main_2d2s node2d2s ${catkin_LIBRARIES})
add_executable(main_lv src/osqp_control/main_lv.cpp)
target_link_libraries(main_lv node_lv ${catkin_LIBRARIES} yaml-cpp)


#############
## Testing ##
#############
add_executable(test_1st_order src/VehicleMotionCtr/test/test_1st_order.cpp)
target_include_directories(test_1st_order PRIVATE ${PYTHON_INCLUDE_DIRS})
target_link_libraries(test_1st_order ContinuousLinearSystem DiscreteLinearSystem Mpc ${PYTHON_LIBRARIES})

add_executable(test_2d2s src/VehicleMotionCtr/test/test_2d2s.cpp)
target_link_libraries(test_2d2s vehicle_linear2d2s)

add_executable(test_2d2s_mpc src/VehicleMotionCtr/test/test_2d2s_mpc.cpp)
target_link_libraries(test_2d2s_mpc linear2d2s_mpc )
target_include_directories(test_2d2s_mpc PRIVATE ${PYTHON_INCLUDE_DIRS})
target_link_libraries(test_2d2s_mpc ${PYTHON_LIBRARIES})

add_executable(test_vehicle_lv src/VehicleMotionCtr/test/test_vehicle_lv.cpp)
target_link_libraries(test_vehicle_lv vehicle_linear_lv) 

add_executable(test_lv_mpc src/VehicleMotionCtr/test/test_lv_mpc.cpp)
target_include_directories(test_lv_mpc PRIVATE ${PYTHON_INCLUDE_DIRS})
target_link_libraries(test_lv_mpc vehicle_lv_mpc  ${PYTHON_LIBRARIES}) 
####test vehicle dyn
set(test_vehicle_dyn_path "${CMAKE_CURRENT_SOURCE_DIR}/src/VehicleMotionCtr/test/test_yaml/")  
configure_file(${CMAKE_CURRENT_SOURCE_DIR}/src/VehicleMotionCtr/test/test_vehicle_dyn_path.h.in 
${CMAKE_CURRENT_SOURCE_DIR}/src/VehicleMotionCtr/test/test_vehicle_dyn_path.h)

add_executable(test_vehicle_lateral src/VehicleMotionCtr/test/test_vehicle_lateral.cpp)
target_link_libraries(test_vehicle_lateral vehicle_linear_lateral) 

add_executable(test_vehicle_dyn src/VehicleMotionCtr/test/test_vehicle_dyn.cpp)
target_link_libraries(test_vehicle_dyn vehicle_dyn ${catkin_LIBRARIES}) 
target_include_directories(test_vehicle_dyn PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/src/VehicleMotionCtr/test)

add_executable(test_longti src/VehicleMotionCtr/test/test_longti_no_offset.cpp)
target_link_libraries(test_longti ContinuousLinearSystem DiscreteLinearSystem Mpc)
target_include_directories(test_longti PRIVATE ${PYTHON_INCLUDE_DIRS})
target_link_libraries(test_longti ${PYTHON_LIBRARIES} )
#test under kalman
add_executable(test_kf src/kalman/test/test_kf.cpp)
target_include_directories(test_kf PRIVATE ${PYTHON_INCLUDE_DIRS})
target_link_libraries(test_kf kf DiscreteLinearSystem ContinuousLinearSystem ${PYTHON_LIBRARIES}) 

set(test_kf_lateral_path "${CMAKE_CURRENT_SOURCE_DIR}/src/VehicleMotionFilter/test/")  
configure_file(${CMAKE_CURRENT_SOURCE_DIR}/src/VehicleMotionFilter/test/test_kf_lateral_path.h.in 
${CMAKE_CURRENT_SOURCE_DIR}/src/VehicleMotionFilter/test/test_kf_lateral_path.h)

add_executable(test_kf_lateral ${CMAKE_CURRENT_SOURCE_DIR}/src/VehicleMotionFilter/test/test_kf_lateral.cpp
${CMAKE_CURRENT_SOURCE_DIR}/src/VehicleMotionFilter/test/test_kf_lateral_path.h)
target_include_directories(test_kf_lateral PRIVATE ${PYTHON_INCLUDE_DIRS})
target_link_libraries(test_kf_lateral kf  DiscreteLinearSystem ContinuousLinearSystem 
${PYTHON_LIBRARIES} yaml-cpp kf_lateral ${CMAKE_THREAD_LIBS_INIT}) 

add_executable(test_kf_vehicle ${CMAKE_CURRENT_SOURCE_DIR}/src/VehicleMotionFilter/test/test_kf_vehicle.cpp
${CMAKE_CURRENT_SOURCE_DIR}/src/VehicleMotionFilter/test/test_kf_lateral_path.h)
target_link_libraries(test_kf_vehicle vehicle_kf ${catkin_LIBRARIES}) 


add_executable(test_vehicle_lmpc src/VehicleMotionCtr/test/test_vehicle_lmpc.cpp 
${CMAKE_CURRENT_SOURCE_DIR}/src/VehicleMotionFilter/test/test_kf_lateral_path.h)
target_link_libraries(test_vehicle_lmpc vehicle_mpc  ${PYTHON_LIBRARIES}) 
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_osqp_control.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
